Dynamic walk simulation of various bipeds via ankle trajectory

Abstract

This paper deals with an approach to carry out the dynamic walk of anthropomorphic bipeds. At first, the way to reproduce a reference walking cycle for a standard biped is proposed. Secondly, the foot/ground interaction model is exposed. A set of elementary transformations is then described to modify the locomotion parameters allowing us to obtain various walking gaits for bipeds having different sizes and weights. Some simulation results are finally given.